CN117260676B - Inspection robot based on artificial intelligence and control method thereof - Google Patents
Inspection robot based on artificial intelligence and control method thereof Download PDFInfo
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- CN117260676B CN117260676B CN202311533210.2A CN202311533210A CN117260676B CN 117260676 B CN117260676 B CN 117260676B CN 202311533210 A CN202311533210 A CN 202311533210A CN 117260676 B CN117260676 B CN 117260676B
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- 238000007689 inspection Methods 0.000 title claims abstract description 79
- 238000013473 artificial intelligence Methods 0.000 title claims abstract description 35
- 238000000034 method Methods 0.000 title claims abstract description 14
- 230000008093 supporting effect Effects 0.000 claims abstract description 36
- 230000007246 mechanism Effects 0.000 claims abstract description 28
- 239000000428 dust Substances 0.000 claims abstract description 12
- 230000000087 stabilizing effect Effects 0.000 claims description 13
- 238000001514 detection method Methods 0.000 claims description 12
- 239000000779 smoke Substances 0.000 claims description 12
- 238000004140 cleaning Methods 0.000 claims description 9
- 239000000463 material Substances 0.000 claims description 9
- 241000755266 Kathetostoma giganteum Species 0.000 claims description 7
- 238000001931 thermography Methods 0.000 claims description 6
- 230000009194 climbing Effects 0.000 claims description 5
- 230000007774 longterm Effects 0.000 claims description 5
- 239000004677 Nylon Substances 0.000 claims description 3
- 238000004891 communication Methods 0.000 claims description 3
- 230000008602 contraction Effects 0.000 claims description 3
- 230000003993 interaction Effects 0.000 claims description 3
- 229920001778 nylon Polymers 0.000 claims description 3
- 239000003973 paint Substances 0.000 claims description 3
- 239000004033 plastic Substances 0.000 claims description 3
- 229920003023 plastic Polymers 0.000 claims description 3
- 229910001220 stainless steel Inorganic materials 0.000 claims description 3
- 239000010935 stainless steel Substances 0.000 claims description 3
- 238000003825 pressing Methods 0.000 claims 1
- 230000008901 benefit Effects 0.000 abstract description 5
- 230000010405 clearance mechanism Effects 0.000 abstract description 3
- 238000012423 maintenance Methods 0.000 abstract description 3
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 230000000712 assembly Effects 0.000 description 7
- 238000000429 assembly Methods 0.000 description 7
- 238000010276 construction Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 238000011109 contamination Methods 0.000 description 2
- 238000005260 corrosion Methods 0.000 description 2
- 230000007797 corrosion Effects 0.000 description 2
- 230000000903 blocking effect Effects 0.000 description 1
- 230000001680 brushing effect Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0058—Means for cleaning manipulators, e.g. dust removing means
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/50—Photovoltaic [PV] energy
Abstract
The invention discloses an artificial intelligence-based inspection robot and a control method thereof, wherein the inspection robot comprises the following components: main part, straining device, supporting component, inspection mechanism and clearance mechanism, the main part includes T shaped plate, mounting panel, drive assembly and spacing subassembly, and the mounting panel is provided with two sets of, and two sets of mounting panels rotate respectively and connect in T shaped plate bottom both sides and symmetry setting, and arc spout has all been opened at two sets of mounting panel tops, and its beneficial effect is: through setting up straining device for two sets of drive wheels of device can open with one-level supporting wheel, make things convenient for the device to take off it when the trouble is patrolled and examined to the rail, do benefit to the maintenance to the device and tear open and trade, straining device utilizes the pulling force of two sets of extension springs to make two sets of drive wheels clamp the track, and the pulling force of two sets of extension springs is adjustable, makes the device adjust according to actual track condition etc., clear up drive wheel surface dust through setting up clearance mechanism, avoid the drive wheel surface to be infected with the dust and lead to with the frictional force between the track to descend.
Description
Technical Field
The invention relates to the technical field of inspection robots, in particular to an artificial intelligence-based inspection robot and a control method thereof.
Background
The artificial intelligent patrol robot is a robot capable of moving autonomously and executing patrol tasks, can carry various sensors to complete patrol people, is a robot for patrol along a track, is also an artificial intelligent patrol robot, and has more standard and stable running route and higher patrol data accuracy and precision compared with a common patrol robot.
Most of the existing rail-hanging inspection robots use I-shaped rails, the existing rail-hanging inspection robots are mainly driven by two groups of driving wheels attached to the I-shaped rails, the existing rail-hanging inspection robots need to be mounted on the rails at the tail ends of the rails during use, most of the rail-hanging inspection robots running on the I-shaped rails can not be taken down midway and can only slide out at the tail ends of the rails once being mounted on the rails due to the blocking of the driving wheels, therefore, once the rail-hanging inspection robots fail midway during inspection, maintenance work is difficult to perform, and in the long-term use process of the existing rail-hanging inspection robots, the friction between the driving wheels and the rails is reduced easily due to continuous dust contamination on the surfaces of the driving wheels, so that the climbing capacity of the robots is reduced, and normal inspection operation of the robots is influenced.
Disclosure of Invention
This section is intended to outline some aspects of embodiments of the invention and to briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section as well as in the description summary and in the title of the application, to avoid obscuring the purpose of this section, the description summary and the title of the invention, which should not be used to limit the scope of the invention.
The present invention has been made in view of the above-described problems.
Therefore, the invention aims to provide an artificial intelligence-based inspection robot and a control method thereof, which are used for solving the problems that the existing rail-hanging inspection robot is difficult to take down and maintain when in rail operation failure, and the climbing capacity of the robot is reduced and inspection operation is influenced due to dust contamination of a driving wheel of the robot after long-term use.
In order to solve the technical problems, the invention provides the following technical scheme: an inspection robot based on artificial intelligence and a control method thereof, comprising:
the main body comprises two groups of T-shaped plates, mounting plates, driving assemblies and limiting assemblies, wherein the two groups of mounting plates are respectively connected to two sides of the bottom of each T-shaped plate in a rotating mode and are symmetrically arranged, arc-shaped sliding grooves are formed in the tops of the two groups of mounting plates, the driving assemblies are respectively and fixedly connected to the tops of the two groups of mounting plates, the driving assemblies comprise driving motors and driving wheels, the driving motors are fixedly connected with the mounting plates and are fixedly connected with rotating shafts of the driving motors in an upward direction, the driving wheels are fixedly connected with rotating shafts of the driving motors, the limiting assemblies comprise two groups of connecting plates and two groups of limiting columns, the two groups of connecting plates are respectively and fixedly connected to two sides of each T-shaped plate and are symmetrically arranged in position, the two groups of limiting columns are respectively and slidably arranged on the inner sides of the two groups of arc-shaped sliding grooves, and the tops of the two groups of limiting columns are respectively and fixedly connected with the two groups of connecting plates;
the tensioning mechanism is provided with two groups and is respectively and fixedly connected to the bottoms of the two groups of mounting plates, the tensioning mechanism comprises gears, connecting piles, primary template plates, tension springs, U-shaped columns, tensioning columns, screws, thread cylinders and rotating blocks, the gears are fixedly connected to the bottoms of the mounting plates, the gears of the two groups of tensioning mechanisms are meshed with each other, the connecting piles are fixedly connected to the bottoms of the gears, the primary template plates are fixedly connected to the bottoms of the T-shaped plates, one ends of the tension springs are sleeved on the outer sides of the connecting piles, the other ends of the tension springs are sleeved on the inner sides of the tensioning columns, the tensioning columns are fixedly connected with the U-shaped columns, the screws are fixedly connected to one side of the U-shaped columns, opposite to the tension springs, the rotating blocks are rotationally connected to the bottoms of the primary template plates, the screw cylinders are rotationally connected to one side of the screw cylinders opposite to the screws, and the screws are rotationally connected to the thread cylinders;
the support assembly is provided with two groups and is respectively connected to the tops of the two groups of mounting plates in a rotating way, and comprises an L-shaped plate and a primary support wheel, wherein the L-shaped plate is connected to the top of the mounting plate in a rotating way, and the primary support wheel is connected to one side, close to the other group of L-shaped plates, of the L-shaped plate in a rotating way;
the inspection mechanism comprises an inspection module, a second-stage construction plate, an omega-shaped mounting plate, a guide frame, second-stage supporting wheels and stabilizing wheels, wherein the second-stage construction plate is fixedly connected to the bottom of the T-shaped plate and positioned between a gear and the first-stage construction plate, the height of the second-stage construction plate is larger than that of the first-stage construction plate, the inspection module is fixedly connected to the bottom of the second-stage construction plate, the omega-shaped mounting plate is fixedly connected to the right side of the top of the inspection module, the guide frame is detachably and rotatably connected to the top of the omega-shaped mounting plate, the guide frame is U-shaped, both sides of the top of the guide frame are inwards bent, the second-stage supporting wheels and the stabilizing wheels are respectively provided with two groups, the second-stage supporting wheels are respectively fixedly connected with inner walls of both sides of the guide frame, and the two groups of the stabilizing wheels are respectively fixedly connected to both sides of the top of the guide frame;
the cleaning mechanism is provided with two groups and is fixedly connected with two groups of driving motor shells respectively, the cleaning mechanism comprises a Z-shaped plate, a fixed plate and a brush plate, the Z-shaped plate is fixedly connected with the driving motor shells, the fixed plate is fixedly connected to the top of the Z-shaped plate, the brush plate is detachably connected to one side, close to an adjacent driving wheel, of the fixed plate, and bristles capable of touching the driving wheel are arranged on one side, close to the adjacent driving wheel, of the fixed plate;
the inspection module comprises a main control unit for controlling the operation of the device, a power supply unit for supplying power to the device, a navigation unit for navigating and positioning the device, a communication unit for carrying out data interaction with an upper computer, a visible light camera for collecting data, an infrared camera, a noise pickup, a temperature and humidity sensor and a smoke alarm.
As a preferable scheme of the inspection robot based on artificial intelligence, the invention comprises the following steps: the middle parts of the omega-shaped mounting plate and the guide frame are respectively provided with an opening and are matched with a flat-head pin shaft, and the guide frame is detachably and rotatably connected to the top of the omega-shaped mounting plate through the flat-head pin shafts matched with the openings.
As a preferable scheme of the inspection robot based on artificial intelligence, the invention comprises the following steps: the T-shaped plate and the connecting plate are made of stainless steel, and the T-shaped plate and the connecting plate are integrally formed.
As a preferable scheme of the inspection robot based on artificial intelligence, the invention comprises the following steps: the arc center of the arc chute is positioned on the axis of the adjacent gear, and the limit post can slide around the corresponding arc chute.
As a preferable scheme of the inspection robot based on artificial intelligence, the invention comprises the following steps: the four corners of one side of the brush plate, which is close to the fixing plate, are provided with threaded holes and are matched with screws, the positions of the fixing plate, which are opposite to the groups of threaded holes, are provided with mounting holes, the four groups of screws respectively penetrate through the four groups of mounting holes and then are screwed into the corresponding threaded holes, and the brush plate is detachably connected with the fixing plate through the four groups of screws.
As a preferable scheme of the inspection robot based on artificial intelligence, the invention comprises the following steps: the driving wheel, the primary supporting wheel, the secondary supporting wheel and the stabilizing wheel are made of rubber materials, the secondary supporting wheel and the primary supporting wheel are located at the same height, and the primary supporting wheel is located below the driving wheel.
As a preferable scheme of the inspection robot based on artificial intelligence, the invention comprises the following steps: the brush hair of brush board is nylon material, the brush board is plastics material.
As a preferable scheme of the inspection robot based on artificial intelligence, the invention comprises the following steps: the surfaces of the mounting plate, the primary template plate, the L-shaped plate, the secondary template plate, the omega-shaped mounting plate and the guide frame are coated with antirust paint.
As a preferable scheme of the inspection robot based on artificial intelligence, the invention comprises the following steps: the navigation unit adopts RFID navigation, the acquired data comprise temperature and humidity, gas content, smoke detection, open fire detection, inspection point state and the like of inspection points, wherein the data acquisition of the temperature and humidity, the gas content, the smoke detection, the open fire detection and the like is realized through a visible light camera, an infrared thermal imaging, a gas sensor and a smoke sensor and recognition algorithm, and the data acquisition of the inspection point state is realized through the visible light camera and the thermal imaging camera and the recognition algorithm.
Based on the above-mentioned inspection robot based on artificial intelligence, the invention also provides a control method of the inspection robot based on artificial intelligence, which comprises the following steps:
s1, hanging an I-shaped guide rail on the device from the tail end of the guide rail when the device is used, hanging the device by two groups of two-stage supporting wheels and two groups of one-stage supporting wheels, respectively tensioning the two groups of gears by two groups of tension springs, so that the two groups of mounting plates have a folding trend, the two groups of connecting piles drive the two groups of driving wheels to clamp the guide rail, the tensioning column can be pressed and rotated, the length of the adjusting screw extending out of the threaded cylinder can be adjusted, the expansion and contraction amount of the corresponding tension springs can be adjusted, the tension force of the tension springs on the gears can be changed, the clamping degree of the two groups of driving wheels on the guide rail can be controlled, and the adjustment can be carried out according to the actual conditions such as gradient of the guide rail;
s2, sending a patrol signal through an upper computer, after receiving the patrol signal, driving two groups of driving motors to drive two groups of driving wheels to rotate, and driving the device to move on a guide rail by the two groups of driving wheels, wherein the patrol module collects patrol point position data, and in the rotation process of the driving wheels, the brush plate cleans dust on the surface of the driving wheels, so that the phenomenon that the surface of the driving wheels is full of dust after long-term use is prevented, friction force is reduced, and influence on climbing capacity of the device is avoided;
s3, when overhauling and maintaining are carried out, the flat-head pin shafts connected with the guide frames and the omega-shaped mounting plates are taken down, the guide frames are separated from the omega-shaped mounting plates, the two groups of mounting plates are pulled to open, the two groups of mounting plates are matched with the two groups of limiting columns to limit the opening angle, the stability of the device is improved, the distance between the two groups of one-level supporting wheels and the distance between the two groups of driving wheels are increased, the device can be directly taken down, the reset device is operated in a reverse step after overhauling and maintaining, and the inspection operation can be continued.
The invention has the beneficial effects that:
1. through setting up straining device for two sets of drive wheels of device and one-level supporting wheel can open, make things convenient for the device to take off it when the trouble is patrolled and examined to the orbit, do benefit to the maintenance to the device and tear open and trade.
2. The tensioning mechanism enables the two groups of driving wheels to clamp the track by utilizing the tension of the two groups of tension springs, and the tension of the two groups of tension springs is adjustable, so that the device can be adjusted according to the actual track condition (track gradient and the like) and is flexible to use.
3. Through setting up clearance mechanism and making the drive wheel of device rotate the time can clear up drive wheel surface dust through the brush board, avoid the drive wheel surface to be infected with the dust and lead to the frictional force decline with the track.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the description of the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art. Wherein:
fig. 1 is a schematic perspective view of an inspection robot based on artificial intelligence.
Fig. 2 is a schematic diagram of a top view structure of an inspection robot based on artificial intelligence.
Fig. 3 is a schematic diagram of a front view structure of an inspection robot based on artificial intelligence.
Fig. 4 is a schematic diagram showing a bottom view structure of the inspection robot based on artificial intelligence after the inspection mechanism is removed.
Fig. 5 is a schematic diagram of a rear side view structure of an artificial intelligence-based inspection robot with an inspection mechanism removed.
Fig. 6 is a schematic diagram of a three-dimensional structure of an artificial intelligence-based inspection robot after removing an inspection mechanism.
Fig. 7 is a schematic view of a rear lower side three-dimensional structure of an artificial intelligence-based inspection robot for removing an inspection mechanism.
Fig. 8 is an enlarged view of the structure of the area a in fig. 7 according to the present invention.
Fig. 9 is a schematic view of a rail hanging state structure of an inspection robot based on artificial intelligence.
Description of the drawings: 100. a main body; 101. a T-shaped plate; 102. a mounting plate; 102a, an arc chute; 103. a driving motor; 104. a driving wheel; 105. a connecting plate; 106. a limit column; 200. a tensioning mechanism; 201. a gear; 202. connecting piles; 203. a primary tooling plate; 204. a tension spring; 205. a U-shaped column; 206. tensioning the column; 207. a screw; 208. a thread cylinder; 209. a rotating block; 300. a support assembly; 301. an L-shaped plate; 302. a primary support wheel; 400. a patrol mechanism; 401. a patrol module; 402. a secondary tooling plate; 403. an omega-shaped mounting plate; 404. a guide frame; 405. a secondary support wheel; 406. a stabilizing wheel; 500. a cleaning mechanism; 501. a Z-shaped plate; 502. a fixing plate; 503. and brushing the plate.
Description of the embodiments
In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced in other ways other than those described herein, and persons skilled in the art will readily appreciate that the present invention is not limited to the specific embodiments disclosed below.
Further, reference herein to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic can be included in at least one implementation of the invention. The appearances of the phrase "in one embodiment" in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments.
Further, in describing the embodiments of the present invention in detail, the cross-sectional view of the device structure is not partially enlarged to a general scale for convenience of description, and the schematic is only an example, which should not limit the scope of protection of the present invention. In addition, the three-dimensional dimensions of length, width and depth should be included in actual fabrication.
Examples
An artificial intelligence-based inspection robot and a control method thereof, comprising:
the main body 100 comprises a T-shaped plate 101, an installing plate 102, a driving assembly and a limiting assembly, wherein the installing plate 102 is provided with two groups, the two groups of installing plates 102 are respectively and rotatably connected to two sides of the bottom of the T-shaped plate 101 and are symmetrically arranged, the tops of the two groups of installing plates 102 are respectively provided with arc-shaped sliding grooves 102a, the driving assembly is provided with two groups of driving assemblies, the two groups of driving assemblies are respectively and fixedly connected to the tops of the two groups of installing plates 102, the driving assembly comprises a driving motor 103 and a driving wheel 104, the driving motor 103 is fixedly connected with the installing plate 102 and the rotating shaft of the driving motor 103 is upwards arranged, the driving wheel 104 is fixedly connected with the rotating shaft of the driving motor 103, the limiting assembly comprises two groups of connecting plates 105 and two groups of limiting columns 106, the two groups of connecting plates 105 are respectively and fixedly connected to two sides of the T-shaped plate 101 and are symmetrically arranged in position, the two groups of limiting columns 106 are respectively and slidably arranged inside the two groups of arc-shaped sliding grooves 102a, and the tops of the two groups of limiting columns 106 are respectively and fixedly connected with the two groups of connecting plates 105;
the tensioning mechanism 200 is provided with two groups and is respectively and fixedly connected to the bottoms of the two groups of mounting plates 102, and comprises a gear 201, a connecting pile 202, a primary template plate 203, a tension spring 204, a U-shaped column 205, a tensioning column 206, a screw rod 207, a threaded cylinder 208 and a rotating block 209, wherein the gear 201 is fixedly connected to the bottom of the mounting plate 102, the gears 201 of the two groups of tensioning mechanisms 200 are meshed with each other, the connecting pile 202 is fixedly connected to the bottom of the gear 201, the primary template plate 203 is fixedly connected to the bottom of the T-shaped plate 101, one end of the tension spring 204 is sleeved outside the connecting pile 202, the other end of the tension spring 204 is sleeved on the inner side of the tensioning column 206, the tensioning column 206 is fixedly connected with the U-shaped column 205, the screw rod 207 is fixedly connected to the side of the U-shaped column 205 opposite to the tension spring 204, the rotating block 209 is rotatably connected to the bottom of the primary template plate 203, the screw rod 208 is rotatably connected to the side of the threaded cylinder 208 opposite to the screw rod 207, and the screw rod 207 is rotatably connected to the threaded cylinder 208.
The support assembly 300 is provided with two groups and is respectively and rotatably connected to the tops of the two groups of mounting plates 102, the support assembly 300 comprises an L-shaped plate 301 and a primary support wheel 302, the L-shaped plate 301 is rotatably connected to the top of the mounting plate 102, and the primary support wheel 302 is rotatably connected to one side of the L-shaped plate 301, which is close to the other group of L-shaped plates 301;
the inspection mechanism 400 comprises an inspection module 401, a second-stage template 402, an omega-shaped mounting plate 403, a guide frame 404, second-stage supporting wheels 405 and stabilizing wheels 406, wherein the second-stage template 402 is fixedly connected to the bottom of the T-shaped plate 101 and is positioned between the gear 201 and the first-stage template 203, the height of the second-stage template 402 is larger than that of the first-stage template 203, the inspection module 401 is fixedly connected to the bottom of the second-stage template 402, the omega-shaped mounting plate 403 is fixedly connected to the right side of the top of the inspection module 401, the guide frame 404 is detachably and rotatably connected to the top of the omega-shaped mounting plate 403, the guide frame 404 is U-shaped, both sides of the top of the guide frame are inwards bent, the second-stage supporting wheels 405 and the stabilizing wheels 406 are respectively and fixedly connected to the inner walls of both sides of the guide frame 404, the two groups of stabilizing wheels 406 are respectively and fixedly connected to both sides of the top of the guide frame 404, openings are respectively arranged in the middle of the omega-shaped mounting plate 403 and the guide frame 404, the guide frame 404 is matched with pin shafts, and the guide frame 404 is detachably and rotatably connected to the top of the omega-shaped mounting plate 403 through the pin shafts and the openings;
the cleaning mechanism 500 is provided with two groups and is fixedly connected with the shells of the two groups of driving motors 103 respectively, the cleaning mechanism 500 comprises a Z-shaped plate 501, a fixed plate 502 and a brush plate 503, the Z-shaped plate 501 is fixedly connected with the shells of the driving motors 103, the fixed plate 502 is fixedly connected to the top of the Z-shaped plate 501, the brush plate 503 is detachably connected to one side of the fixed plate 502, which is close to the adjacent driving wheel 104, the brush is provided with bristles which can touch the driving wheel 104, four corners of one side of the brush plate 503, which is close to the fixed plate 502, are provided with threaded holes and are matched with screws, the positions of the fixed plate 502, which are opposite to the threaded holes of each group, are provided with mounting holes, the four groups of screws respectively penetrate through the four groups of mounting holes and then are screwed into corresponding threaded holes, and the brush plate 503 is detachably connected with the fixed plate 502 through the four groups of screws;
the inspection module 401 comprises a main control unit for controlling the operation of the device, a power supply unit for supplying power to the device, a navigation unit for navigating and positioning the device, a communication unit for carrying out data interaction with an upper computer, and a visible light camera, an infrared camera, a noise pickup, a temperature and humidity sensor and a smoke alarm for collecting data.
Wherein, T shaped plate 101 and connecting plate 105 are stainless steel, avoid corrosion, T shaped plate 101 and connecting plate 105 integrated into one piece, guarantee structural strength, the arc center of arc spout 102a is located adjacent gear 201's axis, spacing post 106 can slide around corresponding arc spout 102a, ensure the normal operating of device, drive wheel 104, one-level supporting wheel 302, second grade supporting wheel 405 and stabilizing wheel 406 are the rubber material, guarantee the track ability of grabbing, do benefit to the guarantee operation stability, second grade supporting wheel 405 is in same height with one-level supporting wheel 302, prevent the device slope, guarantee device steady operation, one-level supporting wheel 302 is located drive wheel 104 below, ensure can provide the supporting effect, the brush hair of brush board 503 is nylon material, brush board 503 is the plastics material, intensity is high, processing is convenient, mounting panel 102, one-level worker's board 203, L shaped plate 301, second grade worker's 402, omega-shaped mounting panel 403 and guide frame 404 surface all are coated with rust-proof paint, avoid corrosion, do benefit to the hoisting device life.
The navigation unit adopts RFID navigation, and the acquired data comprise temperature and humidity, gas content, smoke detection, open fire detection, inspection point state and the like of the inspection point, wherein the data acquisition of the temperature and humidity, the gas content, the smoke detection, the open fire detection and the like is realized through a visible light camera, an infrared thermal imaging, a gas sensor and a smoke sensor and recognition algorithm, and the data acquisition of the inspection point state is realized through the visible light camera and the thermal imaging camera and the recognition algorithm.
Examples
The control method of the inspection robot based on the artificial intelligence of the embodiment 1 specifically comprises the following steps:
s1, as shown in FIG. 5, when the device is used, an I-shaped guide rail is hung from the tail end of the guide rail, two groups of two-stage supporting wheels 405 and two groups of one-stage supporting wheels 302 hang the device, two groups of tension springs 204 respectively tension two groups of gears 201, so that two groups of mounting plates 102 have a folding trend, two groups of connecting piles 202 drive two groups of driving wheels 104 to clamp the guide rail, a tension column 206 can be pressed and a threaded cylinder 208 can be rotated, the length of an adjusting screw 207 extending out of the threaded cylinder 208 is adjusted, the expansion and contraction amount of the corresponding tension springs 204 is adjusted, the tension force of the tension springs 204 on the gears 201 is changed, the clamping degree of the two groups of driving wheels 104 on the guide rail is further controlled, and the adjustment can be carried out according to the actual conditions such as gradient of the guide rail;
s2, sending a patrol signal through an upper computer, after receiving the patrol signal, driving two groups of driving motors 103 to drive two groups of driving wheels 104 to rotate, driving the device to move on a guide rail by the two groups of driving wheels 104, collecting data of patrol points by a patrol module 401, and cleaning dust on the surface of the driving wheels 104 by a brush plate 503 in the rotation process of the driving wheels 104, so that the phenomenon that the surface of the driving wheels 104 is full of dust after long-term use is prevented, friction force is reduced, and the influence on the climbing capacity of the device is avoided;
s3, when overhauling and maintaining are carried out, the flat-head pin shafts connected with the guide frames 404 and the omega-shaped mounting plates 403 are taken down, the guide frames 404 are separated from the omega-shaped mounting plates 403, the two groups of mounting plates 102 are pulled to open the two groups of mounting plates 102, the two groups of connecting plates 105 are matched with the two groups of limiting columns 106 to limit the opening angle, the stability of the device is improved, the distance between the two groups of primary supporting wheels 302 and the distance between the two groups of driving wheels 104 are increased, the device can be directly taken down, the reset device is operated in a reverse step after overhauling and maintaining, and the inspection operation can be continued.
It should be noted that the above embodiments are only for illustrating the technical solution of the present invention and not for limiting the same, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that the technical solution of the present invention may be modified or substituted without departing from the spirit and scope of the technical solution of the present invention, which is intended to be covered in the scope of the claims of the present invention.
Claims (9)
1. Inspection robot based on artificial intelligence, characterized by comprising:
the main body (100) comprises a T-shaped plate (101), a mounting plate (102), a driving assembly and a limiting assembly, wherein the mounting plate (102) is provided with two groups, the two groups of mounting plate (102) are respectively and rotationally connected to two sides of the bottom of the T-shaped plate (101) and are symmetrically arranged, arc-shaped sliding grooves (102 a) are formed in the tops of the two groups of mounting plate (102), the driving assembly is provided with two groups of driving assembly, the two groups of driving assembly are respectively and fixedly connected to the tops of the two groups of mounting plate (102), the driving assembly comprises a driving motor (103) and a driving wheel (104), the driving motor (103) is fixedly connected with the rotating shaft of the driving motor (103), the limiting assembly comprises two groups of connecting plates (105) and two groups of limiting columns (106), the two groups of connecting plates (105) are respectively and fixedly connected to two sides of the T-shaped plate (101) and are symmetrically arranged in position, the two groups of limiting columns (106) are respectively and slidingly arranged on the inner sides of the two groups of arc-shaped sliding grooves (102 a), and the tops of the two groups of limiting columns (106) are respectively and fixedly connected with the two groups of connecting plates (105) respectively.
The tensioning mechanism (200), tensioning mechanism (200) are provided with two groups and are fixedly connected to the bottoms of two groups of mounting plates (102) respectively, the tensioning mechanism comprises a gear (201), a connecting pile (202), a primary template plate (203), a tension spring (204), a U-shaped column (205), a tensioning column (206), a screw rod (207), a threaded cylinder (208) and a rotating block (209), the gear (201) is fixedly connected to the bottoms of the mounting plates (102), the two groups of gears (201) of the tensioning mechanism (200) are meshed with each other, the connecting pile (202) is fixedly connected to the bottoms of the gears (201), the primary template plate (203) is fixedly connected to the bottom of the T-shaped plate (101), one end of the tension spring (204) is sleeved outside the connecting pile (202), the other end of the tension spring (204) is sleeved inside the tensioning column (206), the tensioning column (206) is fixedly connected with the U-shaped column (205), the screw rod (207) is fixedly connected to one side of the U-shaped column (205) opposite to the tension spring (204), the rotating block (209) is rotatably connected to the bottom of the primary template (203), and the threaded cylinder (208) is directly opposite to the threaded cylinder (207);
the support assembly (300) is provided with two groups and is respectively connected to the tops of the two groups of mounting plates (102) in a rotating mode, the support assembly comprises an L-shaped plate (301) and a primary support wheel (302), the L-shaped plate (301) is connected to the top of the mounting plate (102) in a rotating mode, and the primary support wheel (302) is connected to one side, close to the other group of L-shaped plates (301), of the L-shaped plate (301) in a rotating mode;
the inspection mechanism (400) comprises an inspection module (401), a second-level template (402), an omega-shaped mounting plate (403), a guide frame (404), a second-level supporting wheel (405) and a stabilizing wheel (406), wherein the second-level template (402) is fixedly connected to the bottom of the T-shaped plate (101) and is positioned between a gear (201) and the first-level template (203), the height of the second-level template (402) is larger than that of the first-level template (203), the inspection module (401) is fixedly connected to the bottom of the second-level template (402), the omega-shaped mounting plate (403) is fixedly connected to the right side of the top of the inspection module (401), the guide frame (404) is detachably and rotatably connected to the top of the omega-shaped mounting plate (403), the guide frame (404) is U-shaped, both sides of the top are inwards, the second-level supporting wheel (405) and the stabilizing wheel (406) are respectively provided with two groups, the two groups of second-level supporting wheels (405) are fixedly connected to the inner walls of both sides of the guide frame (404), and the two groups of stabilizing wheels (406) are respectively fixedly connected to the top of the guide frame (404);
the cleaning mechanism (500), the cleaning mechanism (500) is provided with two groups and is fixedly connected with the shells of the two groups of driving motors (103) respectively, the cleaning mechanism comprises a Z-shaped plate (501), a fixed plate (502) and a brush plate (503), the Z-shaped plate (501) is fixedly connected with the shells of the driving motors (103), the fixed plate (502) is fixedly connected to the top of the Z-shaped plate (501), the brush plate (503) is detachably connected to one side, close to the adjacent driving wheels (104), of the fixed plate (502), and one side, close to the adjacent driving wheels (104), of the fixed plate (502) is provided with bristles capable of touching the driving wheels (104);
the inspection module (401) comprises a main control unit for controlling the operation of the device, a power supply unit for supplying power to the device, a navigation unit for navigating and positioning the device, a communication unit for carrying out data interaction with an upper computer, and a visible light camera, an infrared camera, a noise pickup, a temperature and humidity sensor and a smoke alarm for collecting data;
the middle parts of the omega-shaped mounting plate (403) and the guide frame (404) are respectively provided with an opening and are matched with a flat-head pin shaft, and the guide frame (404) is detachably and rotatably connected to the top of the omega-shaped mounting plate (403) through the cooperation of the flat-head pin shafts and the openings.
2. An artificial intelligence based inspection robot in accordance with claim 1 wherein: the T-shaped plate (101) and the connecting plate (105) are made of stainless steel, and the T-shaped plate (101) and the connecting plate (105) are integrally formed.
3. An artificial intelligence based inspection robot in accordance with claim 1 wherein: the arc centers of the arc-shaped sliding grooves (102 a) are positioned on the axes of the adjacent gears (201), and the limiting columns (106) can slide around the corresponding arc-shaped sliding grooves (102 a).
4. An artificial intelligence based inspection robot in accordance with claim 1 wherein: screw holes are formed in four corners of one side, close to the fixed plate (502), of the brush plate (503) and are matched with screws, mounting holes are formed in positions, opposite to the screw holes in each group, of the fixed plate (502), the four groups of screws penetrate through the four groups of mounting holes and then are screwed into the corresponding screw holes, and the brush plate (503) is detachably connected with the fixed plate (502) through the four groups of screws.
5. An artificial intelligence based inspection robot in accordance with claim 1 wherein: the driving wheel (104), the primary supporting wheel (302), the secondary supporting wheel (405) and the stabilizing wheel (406) are made of rubber materials, the secondary supporting wheel (405) and the primary supporting wheel (302) are located at the same height, and the primary supporting wheel (302) is located below the driving wheel (104).
6. An artificial intelligence based inspection robot in accordance with claim 1 wherein: the brush hair of brush board (503) is nylon material, brush board (503) is plastics material.
7. An artificial intelligence based inspection robot in accordance with claim 1 wherein: the surfaces of the mounting plate (102), the primary engineering plate (203), the L-shaped plate (301), the secondary engineering plate (402), the omega-shaped mounting plate (403) and the guide frame (404) are coated with antirust paint.
8. An artificial intelligence based inspection robot in accordance with claim 1 wherein: the navigation unit adopts RFID navigation, the acquired data comprise temperature and humidity, gas content, smoke detection, open fire detection and inspection point states of inspection points, wherein the temperature and humidity, gas content, smoke detection and open fire detection data acquisition is realized through a visible light camera, an infrared thermal imaging, a gas sensor and a smoke sensor and recognition algorithm, and the inspection point state data acquisition is realized through a visible light camera and a thermal imaging camera and recognition algorithm.
9. The control method of the inspection robot based on the artificial intelligence according to any one of claims 1 to 8, which is characterized by comprising the following steps:
s1, hanging the device on an I-shaped guide rail from the tail end of the guide rail when the device is used, hanging the device on two groups of two-stage supporting wheels (405) and two groups of one-stage supporting wheels (302), respectively tensioning two groups of gears (201) by two groups of tension springs (204), enabling two groups of mounting plates (102) to have a folding trend, driving two groups of driving wheels (104) by two groups of connecting piles (202) to clamp the guide rail, pressing a tensioning column (206) and rotating a threaded cylinder (208), adjusting the length of a screw rod (207) extending out of the threaded cylinder (208), realizing adjustment of the expansion and contraction amount of the corresponding tension springs (204), changing the tension of the tension springs (204) on the gears (201), further controlling the clamping degree of the guide rail by the two groups of driving wheels (104), and adjusting the clamping degree according to the actual conditions such as the gradient of the guide rail;
s2, sending a patrol signal through an upper computer, and after receiving the patrol signal, driving two groups of driving motors (103) to drive two groups of driving wheels (104) to rotate, wherein the two groups of driving wheels (104) drive the device to move on the guide rail, a patrol module (401) collects patrol point data, and in the rotation process of the driving wheels (104), a brush plate (503) cleans dust on the surfaces of the driving wheels (104) to prevent the surfaces of the driving wheels (104) from being stained with dust after long-term use, so that friction force is reduced and influence on climbing capacity of the device is avoided;
s3, when overhauling and maintaining are carried out, the flat-head pin shafts connected with the guide frames (404) and the omega-shaped mounting plates (403) are taken down, the guide frames (404) are separated from the omega-shaped mounting plates (403), the two groups of mounting plates (102) are pulled to open, the two groups of mounting plates (102) are matched with the two groups of limiting columns (106) to limit the opening angle, the stability of the device is improved, the distance between the two groups of primary supporting wheels (302) and the distance between the two groups of driving wheels (104) are increased, the device can be directly taken down, the reset device is operated by the reverse step after overhauling and maintaining, and the inspection operation can be continued.
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